GCC Code Coverage Report

Directory:	./
File:	test/capsule_box_2.cpp
Date:	2025-06-03 17:15:40

	Exec	Total	Coverage
Lines:	22	22	100.0%
Functions:	2	2	100.0%
Branches:	99	202	49.0%

  
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      /*
    
       * Software License Agreement (BSD License)
    
       *
    
       *  Copyright (c) 2014-2015, CNRS-LAAS and AIST
    
       *  All rights reserved.
    
       *
    
       *  Redistribution and use in source and binary forms, with or without
    
       *  modification, are permitted provided that the following conditions
    
       *  are met:
    
       *
    
       *   * Redistributions of source code must retain the above copyright
    
       *     notice, this list of conditions and the following disclaimer.
    
       *   * Redistributions in binary form must reproduce the above
    
       *     copyright notice, this list of conditions and the following
    
       *     disclaimer in the documentation and/or other materials provided
    
       *     with the distribution.
    
       *   * Neither the name of CNRS-LAAS and AIST nor the names of its
    
       *     contributors may be used to endorse or promote products derived
    
       *     from this software without specific prior written permission.
    
       *
    
       *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    
       *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    
       *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    
       *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    
       *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    
       *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    
       *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    
       *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    
       *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    
       *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    
       *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    
       *  POSSIBILITY OF SUCH DAMAGE.
    
       */
    
      /** \author Florent Lamiraux */
    
      #define BOOST_TEST_MODULE COAL_GEOMETRIC_SHAPES
    
      #include <boost/test/included/unit_test.hpp>
    
      #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps))
    
      #include "utility.h"
    
      #include <cmath>
    
      #include "coal/distance.h"
    
      #include "coal/math/transform.h"
    
      #include "coal/collision.h"
    
      #include "coal/collision_object.h"
    
      #include "coal/shape/geometric_shapes.h"
    
      using coal::Scalar;
    
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      4
      BOOST_AUTO_TEST_CASE(distance_capsule_box) {
    
        typedef coal::shared_ptr<coal::CollisionGeometry> CollisionGeometryPtr_t;
    
        // Capsule of radius 2 and of height 4
    
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      2
        CollisionGeometryPtr_t capsuleGeometry(new coal::Capsule(2., 4.));
    
        // Box of size 1 by 2 by 4
    
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      2
        CollisionGeometryPtr_t boxGeometry(new coal::Box(1., 2., 4.));
    
        // Enable computation of nearest points
    
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      2
        coal::DistanceRequest distanceRequest(true, 0, 0);
    
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      2
        coal::DistanceResult distanceResult;
    
        // Rotate capsule around y axis by pi/2 and move it behind box
    
        coal::Transform3s tf1(
    
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      2
            coal::makeQuat(sqrt(Scalar(2)) / 2, 0, sqrt(Scalar(2)) / 2, 0),
    
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      4
            coal::Vec3s(Scalar(-10.), Scalar(0.8), Scalar(1.5)));
    
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        coal::Transform3s tf2;
    
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        coal::CollisionObject capsule(capsuleGeometry, tf1);
    
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      2
        coal::CollisionObject box(boxGeometry, tf2);
    
        // test distance
    
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      2
        distanceResult.clear();
    
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        coal::distance(&capsule, &box, distanceRequest, distanceResult);
    
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        coal::Vec3s o1 = distanceResult.nearest_points[0];
    
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        coal::Vec3s o2 = distanceResult.nearest_points[1];
    
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      2
        BOOST_CHECK_CLOSE(distanceResult.min_distance, 5.5, 1e-2);
    
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      2
        BOOST_CHECK_CLOSE(o1[0], -6, 1e-2);
    
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        BOOST_CHECK_CLOSE(o1[1], 0.8, 1e-1);
    
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        BOOST_CHECK_CLOSE(o1[2], 1.5, 1e-2);
    
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        BOOST_CHECK_CLOSE(o2[0], -0.5, 1e-2);
    
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        BOOST_CHECK_CLOSE(o2[1], 0.8, 1e-1);
    
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      2
        BOOST_CHECK_CLOSE(o2[2], 1.5, 1e-2);
    
      2
      }

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2014-2015, CNRS-LAAS and AIST
5			* All rights reserved.
6			*
7			* Redistribution and use in source and binary forms, with or without
8			* modification, are permitted provided that the following conditions
9			* are met:
10			*
11			* * Redistributions of source code must retain the above copyright
12			* notice, this list of conditions and the following disclaimer.
13			* * Redistributions in binary form must reproduce the above
14			* copyright notice, this list of conditions and the following
15			* disclaimer in the documentation and/or other materials provided
16			* with the distribution.
17			* * Neither the name of CNRS-LAAS and AIST nor the names of its
18			* contributors may be used to endorse or promote products derived
19			* from this software without specific prior written permission.
20			*
21			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32			* POSSIBILITY OF SUCH DAMAGE.
33			*/
34
35			/** \author Florent Lamiraux */
36
37			#define BOOST_TEST_MODULE COAL_GEOMETRIC_SHAPES
38			#include <boost/test/included/unit_test.hpp>
39
40			#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps))
41
42			#include "utility.h"
43
44			#include <cmath>
45			#include "coal/distance.h"
46			#include "coal/math/transform.h"
47			#include "coal/collision.h"
48			#include "coal/collision_object.h"
49			#include "coal/shape/geometric_shapes.h"
50
51			using coal::Scalar;
52
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54			typedef coal::shared_ptr<coal::CollisionGeometry> CollisionGeometryPtr_t;
55			// Capsule of radius 2 and of height 4
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57			// Box of size 1 by 2 by 4
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59
60			// Enable computation of nearest points
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62	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::DistanceResult distanceResult;
63
64			// Rotate capsule around y axis by pi/2 and move it behind box
65			coal::Transform3s tf1(
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69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::CollisionObject capsule(capsuleGeometry, tf1);
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71
72			// test distance
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	distanceResult.clear();
74	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	coal::distance(&capsule, &box, distanceRequest, distanceResult);
75	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::Vec3s o1 = distanceResult.nearest_points[0];
76	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::Vec3s o2 = distanceResult.nearest_points[1];
77
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85		2	}
86

Function (Line)	Call count	Block coverage
distance_capsule_box::test_method() (line 53)	called 1 time, returned 1 time	59.0%
distance_capsule_box_invoker() (line 53)	called 1 time, returned 1 time	65.0%